﻿/*
 * Copyright (c) 2011
 * Thomas Rozanski, Geoffrey Wright, Zachary Lynn, Jesse Natalie
 * All rights reserved.
 * 
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the team nor the
 *       names of its contributors may be used to endorse or promote products
 *       derived from this software without specific prior written permission.
 * 
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL THOMAS ROZANSKI, GEOFFREY WRIGHT,
 * ZACHARY LYNN, OR JESSE NATALIE BE LIABLE FOR ANY
 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */

using System;

namespace Kinected
{
    /// <summary>Failed to create the motor.</summary>
    public class KinectMotorCreationException : System.ApplicationException
    {
        public KinectMotorCreationException(string msg)
            : base(msg)
        {

        }
    }
    
    /// <summary>Invalid serial number.</summary>
    public class KinectMotorSerialException : System.ApplicationException
    {
        public KinectMotorSerialException(string msg)
            : base(msg)
        {

        }
    }

    /// <summary>The physical Kinect motor.</summary>
    /// <seealso cref="Motor"/>
    /// <seealso cref="MockMotor"/>
    public class RealMotor : Motor
    {
        private IntPtr motor;

        /// <param name="serial">Of the device.</param>
        /// <exception cref="KinectMotorCreationException">Failed to create the motor.</exception>
        /// <exception cref="KinectMotorSerialException">Failed to connect to the motor.</exception>
        public RealMotor(String serial)
        {
            try
            {
                motor = CLNUIDevice.CreateMotor(serial);
            }
            catch
            {
                throw new KinectMotorCreationException(String.Format("unable to create kinect motor with serial '{0}'. Create function failed.", serial));
            }

            if (!IsValid())
            {
                throw new KinectMotorSerialException(String.Format("unable to find kinect motor with serial '{0}'. Serial is invalid.", serial));
            }
        }

        ~RealMotor()
        {
            if (IsValid())
            {
                CLNUIDevice.DestroyMotor(motor);
            }
        }
        
        private bool IsValid()
        {
            return motor != IntPtr.Zero;
        }

        /// <summary>Moves the Kinect up or down.</summary>
        /// <param name="position">-8000 down, 8000 up</param>
        /// <returns>Successful</returns>
        public bool SetPosition(short position)
        {
            return CLNUIDevice.SetMotorPosition(motor, position);
        }

        /// <summary>Gets the Kinect's 3D acceleration.</summary>
        /// <returns>Successful</returns>
        public bool GetAccelerometer(ref short x, ref short y, ref short z)
        {
            return CLNUIDevice.GetMotorAccelerometer(motor, ref x, ref y, ref z);
        }

        /// <summary>Changes the Kinect LED color.</summary>
        /// <param name="mode">Off = 0, Green = 1, Red = 2, Orange = 3, Blink Green = 4,
        /// Blink Green = 5, Blink Red Orange = 6, Blink Red Orange = 7</param>
        /// <returns>Successful</returns>
        public bool SetLED(byte mode)
        {
            return CLNUIDevice.SetMotorLED(motor, mode);
        }
    }
}
